Corona Fighter

#include <WiFi.h>
#include <TroykaDHT.h>

void  right();
void left();
void stop1();
void backward();
void forward();

DHT dht(27, DHT11);
const char* ssid     = "agri";
const char* password = "datadata";
const int freq = 5000;
const int Channel0 = 0;
const int Channel1 = 1;
const int Channel2 = 2;
const int Channel3 = 3;
const int Channel4 = 4;
int startmove = 0;
int trigg = 13;
int echo = 12;
long duration; // variable for the duration of sound wave travel
int distance; // variable for the distance measurement


const int resolution = 10;
int pin_array[5] = {4,16,5,18,26};
WiFiServer server(80);
 int calDistance(){
   digitalWrite(trigg, LOW);
  delayMicroseconds(2);
  // Sets the trigPin HIGH (ACTIVE) for 10 microseconds
  digitalWrite(trigg, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigg, LOW);
  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration = pulseIn(echo, HIGH);
  // Calculating the distance
  distance = duration * 0.034 / 2; // Speed of sound wave divided by 2 (go and back)
  // Displays the distance on the Serial Monitor
  Serial.print("Distance: ");
  return distance;
  }

  
void setup()
{
  pinMode(4,OUTPUT);
  pinMode(26,OUTPUT);
pinMode(5,OUTPUT);
pinMode(16,OUTPUT);
pinMode(18,OUTPUT);
pinMode(trigg, OUTPUT);
  pinMode(echo, INPUT);
for(int i =0;i<5;i++){
 ledcSetup(i, freq, resolution);
ledcAttachPin(pin_array[i], i);
  
  }


    Serial.begin(115200);
         // set the LED pin mode

    delay(10);

    // We start by connecting to a WiFi network

    Serial.println();
    Serial.println();
    Serial.print("Connecting to ");
    Serial.println(ssid);

    WiFi.begin(ssid, password);

    while (WiFi.status() != WL_CONNECTED) {
        delay(500);
        Serial.print(".");
    }

    Serial.println("");
    Serial.println("WiFi connected.");
    Serial.println("IP address: ");
    Serial.println(WiFi.localIP());
    
    server.begin();

}

int value = 0;

void forward (){
  if(calDistance()<20){
    stop1();
    left();
    }
    else{
  ledcWrite(0,0);
  ledcWrite(1, 600);
  
  ledcWrite(2,0);
  ledcWrite(3, 600);
    }
}
void inverter()
{
  for(int i=0;i<1023;i++){
    ledcWrite(4,i);
     delayMicroseconds(10);
    }
  for(int i=1024;i>1;i--){
    ledcWrite(4,i);
     delayMicroseconds(10);
    }
    digitalWrite(26,0);
  
}
void left()
{
  
  if(calDistance()<20){
    stop1();
    left();
    }
    else{
  ledcWrite(0,600);
  ledcWrite(1, 0);
  ledcWrite(2,0);
  ledcWrite(3, 600);
  
    }
}
  
void backward()
{
  /*digitalWrite(4,HIGH);
  digitalWrite(16,LOW);
  digitalWrite(5,HIGH);
  digitalWrite(18,0);*/

  ledcWrite(0,600);
  ledcWrite(1, 0);
  ledcWrite(2,600);
  ledcWrite(3, 0);
  startmove = 0;
}
void right()
{
  if(calDistance()<20){
    stop1();
    left();
    }
    else{

  ledcWrite(0,0);
  ledcWrite(1, 600);
  ledcWrite(2,600);
  ledcWrite(3, 0);
    }
}
void stop1()
{
  ledcWrite(0,0);
  ledcWrite(1, 0);
  ledcWrite(2,0);
  ledcWrite(3, 0);
  startmove = 0;
}
void axce()
{
  ledcWrite(0,0);
  ledcWrite(1, 1023);
  ledcWrite(2,0);
  ledcWrite(3, 1023);
  startmove = 1;
}

void loop(){
  inverter();
 WiFiClient client = server.available();   // listen for incoming clients
  Serial.println(calDistance());
  if(startmove){
    forward();
    }
  /////////////////////////
   dht.read();
  //   
  switch(dht.getState()) {
    //  OK
    case DHT_OK:
      //     
      Serial.print("Temperature = ");
      Serial.print(dht.getTemperatureC());
      Serial.println(" C \t");
      Serial.print("Temperature = ");
      Serial.print(dht.getTemperatureK());
      Serial.println(" K \t");
      Serial.print("Temperature = ");
      Serial.print(dht.getTemperatureF());
      Serial.println(" F \t");
      Serial.print("Humidity = ");
      Serial.print(dht.getHumidity());
      Serial.println(" %");
      break;
    //   
    case DHT_ERROR_CHECKSUM:
      Serial.println("Checksum error");
      break;
    //   
    case DHT_ERROR_TIMEOUT:
      Serial.println("Time out error");
      break;
    //  ,     
    case DHT_ERROR_NO_REPLY:
      Serial.println("Sensor not connected");
      break;
  }
  
  
  ////////////////////////
  if (client) {                             // if you get a client,
    Serial.println("New Client.");           // print a message out the serial port
    String currentLine = "";                // make a String to hold incoming data from the client
    while (client.connected()) {            // loop while the client's connected
      if (client.available()) {             // if there's bytes to read from the client,
        char c = client.read();             // read a byte, then
        Serial.write(c);                    // print it out the serial monitor
        if (c == '\n') {                    // if the byte is a newline character

          // if the current line is blank, you got two newline characters in a row.
          // that's the end of the client HTTP request, so send a response:
          if (currentLine.length() == 0) {
            // HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
            // and a content-type so the client knows what's coming, then a blank line:
            client.println("HTTP/1.1 200 OK");
            client.println("Content-type:text/html");
            client.println();

            // the content of the HTTP response follows the header:
            client.print("<center>");
            client.print("<h1><a href='left'>Left</a></h1>&nbsp;&nbsp;&nbsp;<h1><a href='lgo'>Left Go</a></h1><br>");
            
            client.print("</center>");
            
            client.print("<br>");
            client.print("<center>");
            client.print("<h1><a href='right'>Right</a>&nbsp;&nbsp;&nbsp;<a href='rgo'>Right Go</a></h1><br>");
            client.print("</center>");

            client.print("<br>");
            client.print("<center>");
            client.print("<h1><a href='forward'>Forward</a></h1><br>");
           client.print("</center>");

            client.print("<br>");
            client.print("<center>");
            client.print("<h1><a href='backward'>Backward</a></h1><br>");
            
            client.print("</center>");
            client.print("<br>");
            client.print("<center>");
            client.print("<h1><a href='stop'>Stop</a></h1><br>");
            
            client.print("</center>");
            client.print("</center>");
            client.print("<br>");
            client.print("<center>");
            client.print("<h1><a href='axce'>Acceleration</a></h1><br>");
            
            client.print("</center>");

            

            // The HTTP response ends with another blank line:
            client.println();
            // break out of the while loop:
            break;
          } else {    // if you got a newline, then clear currentLine:
            currentLine = "";
          }
        } else if (c != '\r') {  // if you got anything else but a carriage return character,
          currentLine += c;      // add it to the end of the currentLine
        }

        // Check to see if the client request was "GET /H" or "GET /L":
        if (currentLine.endsWith("GET /left")) {
          left(); 
          delay(800);
          stop1();
        }
        if (currentLine.endsWith("GET /lgo")) {
          left(); 
          delay(800);
          forward();
        }
        if (currentLine.endsWith("GET /right")) {
                         // GET /L turns the LED off
         right();
        delay(800);
          stop1();
      
       }
       if (currentLine.endsWith("GET /rgo")) {
                         // GET /L turns the LED off
         right();
        delay(800);
          forward();
      
       }

        if (currentLine.endsWith("GET /forward")) {
                         // GET /L turns the LED off
         forward();
        
        }
         if (currentLine.endsWith("GET /backward")) {
                         // GET /L turns the LED off
         backward();
       
        }
        if (currentLine.endsWith("GET /stop")) {
                         // GET /L turns the LED off
         stop1();
       
        }
        if (currentLine.endsWith("GET /axce")) {
                         // GET /L turns the LED off
         axce();
       
        }
      }
    }
    // close the connection:
    client.stop();
    Serial.println("Client Disconnected.");
  }
}